Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회지)

Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회)
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Determination of 3D Object Coordinates from Overlapping Omni-directional Images Acquired by a Mobile Mapping System

모바일매핑시스템으로 취득한 중첩 전방위 영상으로부터 3차원 객체좌표의 결정

  • 오태완 (서울시립대학교 대학원 공간정보공학과) ;
  • 이임평 (서울시립대학교 도시과학대학 공간정보공학과)
  • Received : 2010.03.31
  • Accepted : 2010.05.04
  • Published : 2010.06.30
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Abstract

This research aims to develop a method to determine the 3D coordinates of an object point from overlapping omni-directional images acquired by a ground mobile mapping system and assess their accuracies. In the proposed method, we first define an individual coordinate system on each sensor and the object space and determine the geometric relationships between the systems. Based on these systems and their relationships, we derive a straight line of the corresponding object point candidates for a point of an omni-directional image, and determine the 3D coordinates of the object point by intersecting a pair of straight lines derived from a pair of matched points. We have compared the object coordinates determined through the proposed method with those measured by GPS and a total station for the accuracy assessment and analysis. According to the experimental results, with the appropriate length of baseline and mutual positions between cameras and objects, we can determine the relative coordinates of the object point with the accuracy of several centimeters. The accuracy of the absolute coordinates is ranged from several centimeters to 1 m due to systematic errors. In the future, we plan to improve the accuracy of absolute coordinates by determining more precisely the relationship between the camera and GPS/INS coordinates and performing the calibration of the omni-directional camera

본 연구는 지상모바일매핑시스템을 이용하여 취득한 중첩 전방위 영상을 이용하여 객체점의 3차원 좌표를 결정하는 방법을 제시하고 정확도를 분석하고자 한다. 제안된 방법은 먼저 개별 센서 및 대상공간에 좌표계를 정의하고 좌표계간의 관계를 설정한다. 이에 기반하여 전방위 영상의 한점에 투영되는 객체점이 위치한 직선을 유도하고, 공액점으로부터 결정되는 한쌍의 직선을 교차하여 객체점의 3차원 좌표를 결정한다. 제안된 방법을 통해 결정된 객체점의 좌표를 GPS와 토탈스테이션으로 측정한 검사점 좌표와 비교하여 정확도를 검증하였다. 본 연구의 결과 기선의 길이 및 카메라/대상객체 사이의 상호 위치를 적절하게 설정한다면 객체점의 상대좌표를 수 cm 내의 정확도로 결정할 수 있었다. 절대좌표의 정확도는 정오차로 인해 수 cm에서 1 m 정도를 보였다. 향후 카메라 좌표계와 GPS/INS 좌표계 사이의 관계를 보다 정확하게 설정하고 전방위 카메라의 보정을 통해 절대 좌표의 정확도를 개선할 계획이다.

Keywords

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